Matlab-SCARA robot
Note: Matlab version is R2017a, robotic toolbox toolbox version is 9.10.
% Build SCARA robot
% theta d a alpha offset
L1=Link([pi/2 0 40 0 0 ]);
L2=Link([-pi/2 0 40 0 0 ]);
L3=Link([0 20 0 0 1 ]);
L4=Link([pi/2 20 0 0 0 ]);
SCARA=SerialLink([L1 L2 L3 L4],'name','SCARA');
SCARA.qlim=[-pi pi;-pi pi;0 100;-pi pi];
SCARA.plot([0 0 0 0], 'workspace',[-120 120 -120 120 -120 120]);
SCARA.teach
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